TY - GEN
T1 - Visual servoing for robot manipulators considering sensing and dynamics limitations
AU - Wang, Cong
AU - Lin, Chung Yen
AU - Tomizuka, Masayoshi
PY - 2013
Y1 - 2013
N2 - This paper presents a control scheme of visual servoing. Real-time vision guidance is necessary in many desirable applications of industrial manipulators. Challenge comes from the limitations of visual sensing and robot dynamics. Typical industrial machine vision systems have low sampling rate and large latency. In addition, due to the large inertia of industrial manipulators, a proper consideration of robot dynamics is important. In particular, actuator saturation may cause undesirable response. In this paper, an adaptive tracking filter is used for sensing compensation. Based on the compensated vision feedback, a two layer controller is formulated using multi-surface sliding control. System kinematics and dynamics are decoupled and handled by the two layers of the controller respectively. Further, a constrained optimal control approach is adopted to avoid actuator saturation. Validation is conducted using a SCARA robot.
AB - This paper presents a control scheme of visual servoing. Real-time vision guidance is necessary in many desirable applications of industrial manipulators. Challenge comes from the limitations of visual sensing and robot dynamics. Typical industrial machine vision systems have low sampling rate and large latency. In addition, due to the large inertia of industrial manipulators, a proper consideration of robot dynamics is important. In particular, actuator saturation may cause undesirable response. In this paper, an adaptive tracking filter is used for sensing compensation. Based on the compensated vision feedback, a two layer controller is formulated using multi-surface sliding control. System kinematics and dynamics are decoupled and handled by the two layers of the controller respectively. Further, a constrained optimal control approach is adopted to avoid actuator saturation. Validation is conducted using a SCARA robot.
UR - http://www.scopus.com/inward/record.url?scp=84902359152&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84902359152&partnerID=8YFLogxK
U2 - 10.1115/DSCC2013-3833
DO - 10.1115/DSCC2013-3833
M3 - Conference contribution
AN - SCOPUS:84902359152
SN - 9780791856147
T3 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
BT - Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Y2 - 21 October 2013 through 23 October 2013
ER -